Collision-Free Path Planning And Application Of A Dual SCARA Robotic System

With the increasing demand for electronic products,as a key component of flexible manufacturing systems,robots have been widely applied in the electronics manufacturing industry.How to enhance the production capacity has been focused on by the industry.The application of the multi-robot system is one of the solutions,but how to coordinate the motion of multi-robot need to be solved out.Motivated by the work of predecessors,this thesis focuses on the key technologies such as multi-robot collision detection and collision-free path planning,as well as the application in the odd-form component placement project.The organization of this thesis is as follows:1.This thesis discusses the description method of the multi-robot system in the configuration space and transforms collision-free path planning problem of the multi-robot system into finding a path of the connection starting state and the target state in free space of configuration space.The method of path searches algorithm SBL-PRM(Single-query,Bidirectional,Lazy collision checking,Probabilistic Roadmap Method)is analyzed and used to search a feasible path of multi-robot system configuration space.In order to solve the collision problem of the path search process,the overall scheme of multi-robot collision-free path planner is designed,which provides a general solution framework for multi-robot collisionfree path planning problem.2.Design and implementation of double SCARAs collision-free path planner.In order to achieve better planning results,the maximum sampling times,neighbor radius,a local path collision checking threshold value in SBL are determined.And the path adaptive threshold algorithm is proposed,the path of the searched path is adjusted adaptively according to the density change to improve the quality of the collision-free path.The collision-free path is planned and guaranteed by the fifth order polynomial.3.Development of dual SCARAs odd-form component placement workstation.This thesis analyzes the mechanical structure and hardware of the Dual SCARAs odd-form component placement workstation,designs the software architecture of the dual SCARAs oddform component placement workstation,and designs the control system in detail.The design and implementation of the important modules such as collision-free path planner,logical controller,simulation platform and robot communicator.4.The feasibility of the adaptive path smoothing algorithm is verified,and two different collision avoidance environments are verified.The simulation and experimental results show that collision-free path planner based on the configuration space and SBL-PRM is effective.Furthermore,the path generated by the collision-free path generator of the multi-robot type odd-form component placement workstation control system is applied to the actual placement task,and the dual SCARAs finishes this placement task without collision.The scheme of multi-robot collision-free path planner can be extended to a multi-robot system with industrial robots or mobile robots.The application of dual SCARAs odd-form placement workstations is of great reference value and practical value to the upgrading of production capacity of electronic industry.